Aviram

ABSTRACT

A stabilized suspended platform comprises a platform suspended from a support unit by a cable. The support unit includes traction means for releasing or pulling part of the cable so as to set the platform at a desired height, and the platform includes propellers for fine movements or stabilizing the platform in space, further including remote control system with means for communicating with the support unit and the platform for controlling the spatial location of the platform. The support means may further include means for moving the platform laterally.

The present application claims priority from the patent application No. 183209 filed in Israel on 15 May 2007 by the present applicant and having the same title.

TECHNICAL FIELD

The present relates to a stabilized, suspended platform for performing work at high locations, under remote control.

BACKGROUND ART

At present, there is a problem of cleaning windows and walls of tall buildings. The work is expensive, labor-intensive and may be hazardous. The weather has to be considered as well. When it rains or there are strong winds, work may be still more difficult.

Sometimes a scaffolding has to be erected.

An irregular-shaped building or statue may be still more difficult to clean.

DISCLOSURE OF INVENTION

The present invention relates to a suspended platform with a capability of moving in space, under remote control. The platform may include means for holding various accessories to perform a wide variety of tasks as desired.

The platform may be used in a device for cleaning windows and building facades using brushes, water jets and/or sand blasting.

The platform may be used for cleaning by pressured sand, for example in cleaning windows or buildings.

One goal of the invention is to perform various tasks at elevated locations, such as the side of a building, without endangering workers, using a platform which is movable in space.

One embodiment of the invention comprises a device suspended on a cable from the top of the building. The cable includes mechanical support means, together with a supply of electricity, water, communications, etc.

The device may be controlled from a remote, safe location.

BRIEF DESCRIPTION OF DRAWINGS

FIG. 1 illustrates a platform system movable about the front of a building

FIG. 2 details means for stabilizing the platform

FIG. 3 details the block diagram of a stabilized platform system

FIG. 4 details a propeller or ventilator with two-dimensional aiming means

FIG. 5 details a platform with means for stabilizing it located in a box under the platform

FIG. 6 details a platform with means for stabilizing it located in a box under the platform and including two front propellers.

BEST MODE FOR CARRYING OUT THE INVENTION

FIG. 1 illustrates a platform 3 movable about the front of a building 1. The suspended platform 3 has a capability of moving in space as defined by the tri-dimensional axes 2, under remote control from a remote control unit 5.

The stabilized platform 3 is suspended from upper support means 4. Support means 4 include traction means such as an electric motor rotating main wheel 42, with auxiliary wheel 43, for pulling or releasing part of the cable 41, thus moving the platform 3 up or down, in the direction 22 (z axis).

Furthermore, support means 4 may move laterally, in the direction 21 (x axis) for example along lateral movement tracks 44 mounted there.

The vertical and lateral movements can bring the suspended platform 3 to a desired location on the wall of the building 1.

Additionally, the platform 3 includes means for self-propulsion using one or more propellers or ventilators 31, three such units being mounted in the embodiment as illustrated.

The ventilators may exert a force and/or cause a movement in directions 23, 24, 25 as illustrated.

Furthermore, each ventilator may be mounted on a base with means for changing its direction, for example in elevation and/or azimuth, as detailed elsewhere in the present disclosure.

Thus, the direction of the force applied by each ventilator can be controlled and adjusted as desired.

For example, ventilators may be activated to bring the platform 3 closer to the building or even inside it to a limited extent. This may be desirable when applying a brush to forcibly clean the wall.

In another application, winds may move the platform away from the desired location. The ventilators may apply a counter-thrust to keep the platform in place.

In yet another application, the platform may start a pendulous movement, for example after a lateral movement of unit 4. The ventilators may be so activated as to dampen, or stop, such undesired movements or oscillations.

Usually, unit 4 will be used for large movements, while the ventilators in platform 3 will be used for fine lateral movements and stabilization.

A platform cable 41 includes mechanical support cable, as well as conduits for electric power, communications, water, pneumatic pressure and/or detergents.

Platform 3 may be equipped with means for holding various accessories to perform a desired task, for example a device for cleaning windows and building facades using brushes or sand blasting.

The goal: performing various tasks at high locations, such as the side of a building, without endangering workers, using a platform which is movable in space.

One embodiment—a device hung on a cable from the top of the building. The cable includes mechanical support together with a supply of electricity, water, communications, etc.

The device may be controlled from a remote, safe location using means 5.

FIG. 2 details means for stabilizing the platform 3.

The stabilized platform 3 is suspended from a cable 41 which may include a mechanical support cable, electric power, control signals, pneumatic pressure, water, etc.

1. Movement of the Device

The device includes a plurality of propellers 31, 32, 33 which may be used to move the device in a generally horizontal plane, under operator's control. Usually these are small movements and/or forces applied to counter wind forces.

The cable 41 may be used to move the device vertically and for large horizontal movements.

This allows the device a tri-dimensional movement in space.

2. Structure of the Device

The device is modular and its structure may be adapted to the needs of the user, for example:

To wash windows and walls of a skyscraper a suitable brush may be added, with an adequate supply of water and chemicals/detergents and possibly the removal of waste water.

Sand blast cleaning of walls and statues using a sand compressor and adequate accessories.

Various brushes may be used to clean small enclaves/cavities/recessions or poisonous/hazardous places.

The device may be suspended from a helicopter, for example, and will self-adjust to a problematic spot, such as mines extraction, etc.

May use a trailing hook or other equipment.

3. Controlling the Device

The device may be controlled by wire or wireless. It is possible to attach various sensors, including for example contact or smell sensors, video cameras, microphones, gravity sensors, acceleration sensors, inertial direction sensors such as gyroscopes, etc.

Illumination means 39 may also be attached to the device.

A computer, microcomputer or controller 34 in the device may control the various functions of the device, while communicating with a remote control device or computer 5.

The propellers 31, 32, 33 are mounted each on a propeller base 312, 322, 332 respectively. Preferably each propeller base is capable of azimuth and/or elevation rotation, thus the direction of the thrust can be controlled.

A control unit 34 is used to activate the propellers as well as illumination means 39, for example. The unit 34 also communicates with a remote control means, by wire or wireless. Sensor signals may be processed locally for stabilizing the platform 3, or may be transmitted to a remote location.

Such sensor signals may include signals from a TV camera 35, bumpers and/or sensor means 36, etc.

Inputs relating to the location of the device and the work in progress may be transferred from a video camera 35 and other sensors to the operator.

Holding means 37 may be used for clasping work accessories, such as brushes, sand blasting, water spray, etc.

FIG. 3 details the block diagram of a stabilized platform system, including a remote control unit 5, communicating with the support means 4 and with the platform controller 34.

Thus, large movements as well as fine movements and platform stabilization may be performed as directed from the remote control unit 5.

The remote control unit may include a microcontroller and a transmitter/receiver, with display means 51 and control input means 52.

The unit 4 includes means for moving the platform 3 in two dimensions (lateral and height) according to commands from unit 5.

The platform 3 includes a control unit 34 communicating with unit 5, both for receiving commands and for transmitting signals from the sensors mounted on the platform, for example a TV camera 35, bumpers and/or sensor means 36, gyro inertial sensor means 381 and/or other sensors 382 including earth gravity sensor means for example.

The control unit 34 may activate illumination means 39 when desired (at dark).

Furthermore, the unit 34 includes means (hardware and software) for activating the propellers 31, 32, 33—for each controlling its power (the force, or thrust exerted) as well as its direction in azimuth and elevation.

In a preferred embodiment, a closed loop servo system is used to locate (fine movements) and stabilize the platform 3.

The loop may be closed with the controller 34, or using a computer at a remote location such as unit 5, and/or may be controlled manually.

The platform can be stabilized by using a closed loop servo control system and method, to keep the platform at a desired location in space despite various disturbances such as wind.

The stabilized suspended platform may include means for controlling the propeller power and orientation under servo loop control.

The servo means may include input means for receiving a desired location command, sensor means for detecting deviations from the desired location and propeller means for exerting a force to move the platform to the desired location. The commands may be received from a remote location. The sensors may include video, gyroscope inertial sensors, radar, ultrasound, infrared and/or other sensors.

The servo control loop may be used both to position the platform at a desired location, and to keep it there despite various disturbances.

Moreover, a controlled force may be applied, for example a brush on the platform using a controlled pressure on a window while cleaning it.

The unit 34 may also be used to activate work accessories mounted on platform 3, such as a rotating brush for example.

Uses of the Device

The present device may find many uses, for example:

Cleaning windows or walls of tall buildings.

Advantages: can be used 24 hours per day, in any weather and wind force. More productive than manual labor, without endangering human life.

Cleaning of facades, statues and irregularly-shaped building, using for example brushes and sand blasting.

The platform may be used for cleaning by pressured sand, using suitable accessories.

Advantages: Eliminates the need for a scaffold, can reach (to a limited degree) inside a building in a horizontal plane.

Using sensors and an advanced structure and control means, the device can achieve complete control on a force or pressure applied to various locations, even in the presence of winds.

The device allows to work on a statue or wall from a distance, without physical contact with the target surface.

The device may be used for work in hazardous places such as sewers, chemical factories or chemical reservoirs, etc.

It can be used off helicopters to connect a holding hook, delivery of equipment to problematic locations and/or beyond the horizontal plane of the holding platform, work on mine fields without touching the ground, or adjusting a ladder or stretcher as required.

The device can be used to adjust a fuel pipe from a refueling aircraft or various cables off a flying airplane.

FIG. 4 details a propeller or ventilator with two-dimensional aiming means 31. It includes a propeller or ventilator frame 311, connected to the axis of a first stepper motor 312, with the body of the motor 312 being mounted on the frame 313, for the elevation angle adjustment.

The ventilator frame 313 can also be rotated in azimuth using a second stepper motor 314, which is mounted on frame 313 and with its axis connected to the support rod 315.

FIG. 5 details a platform 3 with means for stabilizing it located in a box 6 under the platform. This is another preferred embodiment of the device of FIG. 2, for example.

The stabilized platform 3 is suspended from a cable 41 which may include a mechanical support cable, electric power, control signals, pneumatic pressure, water, etc.

Movement of the Device

The device includes a plurality of propellers 31 and 32 as illustrated, and preferably also a propeller on the lateral wall of the box 6 opposite that with the propeller 31. These propellers may be used to move the platform 3 in a generally horizontal plane, under operator's control.

Usually these are small movements and/or forces applied to counter wind forces.

The cable 41 may be used to move the device vertically and for large horizontal movements.

This allows the device a tri-dimensional movement in space.

The propellers 31, 32, etc. preferably are mounted on axes to allow their rotation about horizontal and vertical axes as illustrated, so as to direct the thrust (the force activated to stabilize the platform 3) in the desired direction.

A two axis positioner may be used for each propeller.

Furthermore, each propeller may be set to rotate in one or the opposite direction, so as to direct the force activated on the platform 3 as desired.

By mounting the propellers in a box 6 under the platform 3, the platform 3 is left with a larger surface free for work tools for cleaning buildings.

The work area on the platform 3 is better separated from the wind generated by the propellers.

Furthermore, the propellers are better protected from the environment.

The users or operators of the device are better protected too.

The structure may be more stable and easier to control.

FIG. 6 details a platform 6 with means for stabilizing it located in a box under the platform and including two front propellers 32, 325. This embodiment offers improved performance where a larger force is required to be applied on the wall to be cleaned, or to apply a different force on the left and right sides of the device.

The drawing also illustrates the lateral propellers 31 and 33.

The left and right sides of the platform may be supported with cables 411 and 413, respectively.

INDUSTRIAL APPLICABILITY

A suspended, stabilized platform may be used for cleaning vertical surfaces or irregular surfaces.

The platform may perform various tasks at high locations, such as the side of a building, without endangering workers, using a platform which is movable in space.

It will be recognized that the foregoing is but one example of an apparatus and method within the scope of the present invention and that various modifications will occur to those skilled in the art upon reading the disclosure set forth hereinbefore. 

1. A stabilized suspended platform comprising a platform suspended from a support unit by cable means, wherein the support unit includes traction means for releasing or pulling part of the cable means so as to set the platform at a desired height, and the platform further includes propeller means for fine movements or stabilizing the platform in space, further including remote control means with means for communicating with the support unit and the platform means for controlling the spatial location of the platform.
 2. The stabilized suspended platform according to claim 1, wherein the support means further include means for moving the platform laterally.
 3. The stabilized suspended platform according to claim 1 or 2, wherein the platform further includes clasping means for attaching work accessories.
 4. The stabilized suspended platform according to claim 3, wherein the work accessories include a device for cleaning windows and building facades using brushes or sand blasting.
 5. The stabilized suspended platform according to claim 3, wherein the work accessories include means for cleaning by pressured sand.
 6. The stabilized suspended platform according to claim 1 or 2, wherein the cable means further include conduits for electric power, communications, water, pneumatic pressure and/or detergents.
 7. The stabilized suspended platform according to claim 1 or 2, further including closed loop servo means for keeping the platform at a desired location in space, wherein the servo means include input means for receiving a desired location command, sensor means for detecting deviations from the desired location and propeller means for exerting a force to move the platform to the desired location.
 8. The stabilized suspended platform according to claim 7, further including means for receiving the desired location command from a remote location.
 9. The stabilized suspended platform according to claim 7 or 8, further including means for controlling the propeller power under servo loop control.
 10. The stabilized suspended platform according to claim 7 or 8, further including means for controlling the propeller power and orientation under servo loop control.
 11. The stabilized suspended platform according to claim 1 or 2, further including sensor means for measuring the actual location of the platform and means for controlling the propeller power and orientation under servo loop control so as to keep the platform at a desired location.
 12. The stabilized suspended platform according to claim 11, wherein the sensor means include video, gyroscope inertial sensors, radar, ultrasound, infrared and/or other sensors.
 13. A stabilized suspended platform substantially as detailed in the present disclosure with reference to the drawings. 